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WO2018173591A1 - Dispositif de commande de moteur, dispositif d'assistance électrique et véhicule électrique - Google Patents

Dispositif de commande de moteur, dispositif d'assistance électrique et véhicule électrique Download PDF

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Publication number
WO2018173591A1
WO2018173591A1 PCT/JP2018/005905 JP2018005905W WO2018173591A1 WO 2018173591 A1 WO2018173591 A1 WO 2018173591A1 JP 2018005905 W JP2018005905 W JP 2018005905W WO 2018173591 A1 WO2018173591 A1 WO 2018173591A1
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WO
WIPO (PCT)
Prior art keywords
motor
motor drive
switching element
drive device
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/005905
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English (en)
Japanese (ja)
Inventor
片岡　耕太郎
野村　勝
秀明 中岡
池谷　直泰
岩田　浩
伊藤　寛
柴田　晃秀
足立　浩一郎
鈴木　貴光
哲三 永久
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Corp
Original Assignee
Nidec Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nidec Corp filed Critical Nidec Corp
Publication of WO2018173591A1 publication Critical patent/WO2018173591A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a drive device that drives a motor, an electric assist device that includes the motor drive device, and an electric vehicle.
  • the present invention provides a motor drive device capable of interrupting a regenerative current more easily and accurately.
  • a motor drive device is a motor drive device that controls a motor driven by a power source, and includes a motor drive circuit, a switching element, and a control unit.
  • the motor drive circuit drives the motor.
  • the switching element switches electrical connection between the power source and the motor drive circuit.
  • a control part detects the rotation speed of a motor, and when the rotation speed of a motor is more than 1st value, it turns off a switching element.
  • An electric assist device includes the motor driving device, a power source, a motor, and a control unit including the control unit.
  • An electric vehicle according to an exemplary embodiment of the present application includes the electric assist device.
  • the motor drive device is effective for interrupting the regenerative current more easily and accurately.
  • FIG. 1 schematically shows the overall configuration of an electrically assisted bicycle.
  • FIG. 2 is a schematic configuration diagram of the electric assist device.
  • FIG. 3 is a schematic configuration diagram of the motor drive device according to the first embodiment.
  • FIG. 4 is a flowchart showing the operation of the motor driving apparatus according to the first embodiment.
  • FIG. 5 is a schematic configuration diagram of a motor drive device according to the second embodiment.
  • FIG. 6 is a schematic configuration diagram of a motor drive device according to the third embodiment.
  • FIG. 7 is a schematic configuration diagram of a motor drive device according to the fourth embodiment.
  • FIG. 1 is a diagram illustrating an appearance of an electrically assisted bicycle 1 (an example of an electrically powered vehicle) according to the present embodiment.
  • FIG. 2 is a diagram illustrating a schematic configuration of an electric assist kit 3 (an example of an electric assist device) mounted on the electric assist bicycle 1.
  • the electrically assisted bicycle 1 has a function of detecting the pedaling force and the rotational speed of the user with a sensor and reducing the pedaling force by driving the motor 13.
  • the electrically assisted bicycle 1 has a configuration included in a normal bicycle such as a wheel, a vehicle body, a pedal, and a chain, but the description of these configurations is omitted.
  • the electrically assisted bicycle 1 includes an electric assist kit 3 (FIG. 2) including a control unit 30 including a motor driving device 10, 210, 310, or 410, a battery 20, and a motor 13.
  • a control unit 30 including a motor driving device 10, 210, 310, or 410, a battery 20, and a motor 13.
  • the battery 20 (an example of a power supply) is configured to be able to store electricity by charging from the outside and charging from the motor 13.
  • the battery 20 is configured to supply power to the control unit 30. Further, the battery 20 supplies electric power for driving the motor 13 and applying a driving force to the bicycle via the control unit 30 and the motor driving device 10, 210, 310, or 410. *
  • the control unit 30 (an example of a control unit) includes a microcontroller (microcomputer) that includes a CPU, other control circuits, and a memory.
  • the control unit 30 is disposed at an arbitrary position on the bicycle body, for example, in the vicinity of a torque sensor (not shown).
  • the control unit 30 generates a control signal for the motor 13 and controls the rotation of the motor 13. For example, a driving force can be applied to the front wheels by applying a driving force to the motor 13 in the same direction as the rotation direction of the front wheels in accordance with a control signal from the control unit 30.
  • a load is applied to the rotation of the front wheels, thereby applying a braking force (braking force) to the front wheels.
  • the motor 13 (an example of a motor) is arrange
  • the motor 13 is, for example, a three-phase brushless DC motor.
  • the motor 13 may be a brushed DC motor. *
  • the motor driving device 10, 210, 310, or 410 (an example of a motor driving device) is included in the control unit 30. As will be described later, when it is determined that the motor drive device 10, 210, 310, or 410 rotates at a rotational speed (rotational speed) that exceeds the voltage of the battery 20, the regenerative current from the motor 13 It has the structure which interrupts
  • rotational speed rotational speed
  • FIG. 3 schematically shows the configuration of the motor drive device 10 according to the first embodiment.
  • the motor driving device 10 detects the number of rotations of the motor 13 by the hall sensor 15.
  • the hall sensor 15 (an example of a rotational position sensor of the motor) is a semiconductor element that detects a change in the magnetic field of the motor 13 and outputs an output corresponding to the strength thereof. The number of rotations of 13 is detected.
  • the motor drive device 10 includes an inverter circuit 113 connected to the motor 13 and a switching element SW that switches electrical connection between the battery 20 and the inverter circuit 113.
  • the motor drive device 10 also includes a switching control unit 110 that switches on / off of the switching element SW, a memory 111, and a control power generation circuit 115 that is connected to the battery 20 with respect to the switching element SW.
  • the motor drive device 10 further includes a smoothing capacitor C (an example of a capacitor) connected in parallel to the battery 20 with respect to the switching element SW, and a control power generation circuit 115. *
  • the inverter circuit 113 (an example of a motor drive circuit) is a bridge circuit including six transistors Tr1 to Tr6.
  • the inverter circuit 113 is connected to the motor 13 via motor drive lines MDW1 to MDW3.
  • the inverter circuit 113 generates a three-phase alternating current by turning on and off the switches Tr1 to Tr6 by the switching control unit 110, and rotates the motor 13.
  • the transistors Tr1 to Tr6 are, for example, IGBTs (insulated gate bipolar transistors). Transistors Tr1 to Tr6 are also connected in parallel with freewheeling diodes.
  • the transistors Tr1 to Tr6 may be MOSFETs (field effect transistors) or other transistors. *
  • the switching element SW (an example of a switching element) is a transistor such as an IGBT, and is turned on / off by the switching control unit 110 at a predetermined timing described later. Note that the switching element SW may be a MOSFET or other transistor. *
  • the switching control unit 110 (an example of a control unit) is configured by the above-described microcontroller (microcomputer), and includes a CPU and other control circuits that execute predetermined arithmetic processing.
  • the switching control unit 110 obtains digital information obtained by converting the output voltage amplified by the amplifier or the like from the Hall sensor 15 by an AD converter (not shown).
  • the switching control unit 110 detects the rotational position of the motor 13 output from the hall sensor 15, and switches the transistors Tr1 to Tr6 on and off in response to the detection.
  • the switching control unit 110 also detects the rotational speed of the motor from the output from the hall sensor 15 and switches the switching element SW on and off at a predetermined timing according to the detection. *
  • the switching control unit 110 detects the rotational position of the motor 13 by converting the signal from the hall sensor 15 into a high / low signal by a comparator (not shown) and then inputting the signal to the switching control unit 110.
  • the memory 111 is composed of a semiconductor memory or the like.
  • the switching control unit 110 stores threshold values R1, R2, and R3 that serve as references for switching on and off the switching element SW.
  • the relationship between the threshold values R1, R2, and R3 is R1> R3> R2.
  • Each threshold corresponds to the number of rotations of the motor that exceeds the voltage of the battery 20.
  • a memory IC such as an EEPROM may be used.
  • the switching control unit 110 includes a microcomputer as described above, a memory area of the microcomputer may be used. *
  • the control power generation circuit 115 is connected to the battery 20 side with respect to the switching element SW, and generates and supplies power for the switching control unit 110. *
  • FIG. 4 is a flowchart showing the operation of the motor drive device 10 according to the first embodiment.
  • the switching controller 110 Based on the output from the hall sensor 15, the switching controller 110 reads the rotation speed of the motor 13 (hereinafter referred to as the motor rotation speed). *
  • the threshold value R2 (an example of the second value) is read from the memory 111 by the switching control unit 110, and is compared with the motor rotation speed read in step S102. If the motor rotation speed is equal to or greater than R2, the process proceeds to step S104, and if it is less than R2, the process proceeds to step S107. *
  • R1 (an example of a first value) larger than the threshold value R2 is read from the memory 111 by the switching control unit 110, and compared with the motor rotation speed read in step S102. If the motor rotation speed is equal to or greater than R1, the process proceeds to step S105, and if it is less than R1, the process proceeds to step S107.
  • step S104 the process returns to step S104, and if the motor rotational speed is equal to or greater than R1, the process proceeds to step S105, and if the motor rotational speed is less than R1, the process proceeds to step S107.
  • the threshold value R3 (an example of a third value) that is larger than the threshold value R2 and smaller than R1 is read from the memory 111 by the switching control unit 110, and is compared with the motor rotation speed read in step S109. If the motor speed exceeds R3, the process proceeds to step S111. If the motor speed is equal to or less than R3, the process returns to step S108. *
  • a threshold value R3 (a value between R1 and R2) on condition that the state of the switching element SW is turned off.
  • the switching control unit 110 detects the rotational speed of the motor 13 and maintains the switching element SW off when the rotational speed of the motor 13 is at least the threshold value R1.
  • the threshold value R1 can be set to a rotational speed of the motor corresponding to the voltage of the battery 20 or a rotational speed smaller than that. Thereby, when the motor 13 is rotating at a rotational speed exceeding the voltage of the battery 20, the switching element SW is turned off to prevent an excessive regenerative current from flowing to the battery 20 side.
  • the smoothing capacitor C is disposed on the battery 20 side with respect to the switching element SW.
  • the smoothing capacitor C can serve both as a smoothing function for the control power generation circuit 115 and a smoothing function for the power source of the inverter circuit 113.
  • the smoothing capacitor C may be a capacitor having a withstand voltage that can withstand use with the battery 20 voltage, and a low-cost circuit can be configured.
  • the switching control has hysteresis by properly using three threshold values (R1> R3> R2) according to the state of the switching element SW. For this reason, when the motor rotation speed is in the vicinity of the switching boundary, frequent switching of the switching element SW can be prevented, and switching of the switching element SW can be performed stably.
  • another smoothing capacitor may be provided on the inverter circuit 113 side with respect to the switching element SW.
  • the hall sensor 15 may also serve as a hall sensor provided in the motor 13 in order to detect the rotational position of the rotor for coil energization switching.
  • FIG. 5 schematically shows a configuration of a motor drive device 210 according to the second embodiment.
  • constituent elements having the same configurations or functions as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
  • the motor drive device 210 includes a voltage measurement unit 17 (an example of a voltage measurement unit) that measures the voltages of the motor drive lines MDW1 to MDW3 that connect the motor 13 and the inverter circuit 113 without using a hall sensor. It differs from Embodiment 1 in the point provided. *
  • the voltage measuring unit 17 measures a voltage when the inverter circuit 113 is stopped.
  • the time when the inverter circuit 113 is stopped is when the switching element SW is turned off before the inverter operation is started or when the switching element SW is turned on, for example, in a non-energized section in the 120 energization method.
  • the non-energized section of the motor drive line MDW1 is a section in which Tr1 and Tr4 are OFF).
  • the voltage measured by the voltage measuring unit 17 is converted into digital information by an AD converter (not shown), for example. *
  • the switching control unit 110 calculates the motor rotation speed from the converted voltage value. For example, the switching control unit 110 can read the motor rotation number from the increase or decrease of the voltage value. In this case, the timing at which the acquired voltage value increases or decreases with respect to the predetermined voltage value is counted, and the motor rotation speed can be determined from the frequency of the timing.
  • the detection of the voltage increase / decrease timing may be performed using a comparator.
  • the comparator inputs the voltage value detected by the voltage measuring unit 17 and a predetermined voltage value as a reference, and outputs a comparison result (for example, whether there is an increase or decrease).
  • the switching control unit 110 determines the motor speed based on this output.
  • the predetermined voltage serving as the reference for example, a virtual midpoint voltage in which MDW1, MDW2, and MDW3 are connected by resistors and a filter is appropriately provided can be used.
  • the switching control unit 110 detects the motor rotation speed based on the output from the voltage measurement unit 17. Based on the detected motor rotation speed, the processes of steps S102 to S104, S106, and S109 to S110 in FIG. 4 are executed. When the switching element SW is in the on state, the motor rotation speed is read from the voltage value measured at the timing of the non-energized section of the inverter circuit 113 in step S109 in FIG.
  • the switching control unit 110 detects the motor rotation speed based on the increase / decrease in the voltage measured by the voltage measurement unit 17. To do. For this reason, since it is not necessary to provide a hall sensor for detecting the motor rotation number for controlling the switching element SW, the number of parts can be reduced.
  • FIG. 6 schematically shows a configuration of a motor drive device 310 according to the third embodiment.
  • constituent elements having the same configurations and functions as those of the first or second embodiment are denoted by the same reference numerals, and description thereof is omitted.
  • the motor drive device 310 has the above first and second embodiments in that a smoothing capacitor C (an example of a capacitor) and a control power generation circuit 115 are provided on the inverter circuit 113 side with respect to the switching element SW. And different. Further, a diode D (an example of a diode) is connected in parallel with the switching element SW in a direction from the battery 20 toward the inverter circuit 113. *
  • the motor drive device 310 can transmit power from the battery 20 to the control power generation circuit 115 regardless of the on / off state of the switching element SW. Therefore, the control unit 30 including the switching control unit 110 can be operated even when the switching element SW is in an off state such as an initial state of the motor driving device 310.
  • the control unit 30 can be operated using the generated power of the motor 13, so that the power can be used effectively. Further, when the motor rotation speed decreases with the switching element SW turned off, the electric power from the battery 20 flows through the diode D, so that the control power is not interrupted even if the switching element SW is not immediately turned on. . *
  • the motor driving device 310 is provided with the voltage measuring unit 17, but instead, the motor rotation number is detected using the Hall sensor 15 as in the first embodiment (FIG. 3). It may be. *
  • FIG. 7 schematically shows a configuration of a motor drive device 410 according to the fourth embodiment.
  • constituent elements having the same configurations and functions as those of the first to third embodiments are denoted by the same reference numerals, and description thereof is omitted.
  • the motor drive device 410 differs from the first to third embodiments in that a battery voltage measurement unit 19 (an example of a power supply voltage measurement unit) that measures the voltage of the battery 20 is provided.
  • the switching control unit 110 changes the values of the motor rotation speed threshold values R1, R2, and R3 that determine whether the switching element SW is turned on or off according to the battery voltage.
  • the threshold values R1, R2, and R3 are set higher as the battery voltage is higher. This is because the higher the battery voltage, the greater the motor speed at which the regenerative current is generated.
  • the switching control unit 110 can change the values of the motor speed threshold values R1, R2, and R3 according to the battery voltage. When the battery voltage is higher than a predetermined voltage, the values of the threshold values R1, R2, and R3 Raise. *
  • the switching element SW when performing regenerative brake control in which the switching element SW needs to be in an on state, the switching element SW can be maintained in an on state up to a high motor speed. For this reason, the motor drive device 410 can widen an operation margin and can further improve convenience.
  • the motor driving device 410 is provided with the voltage measuring unit 17, but instead, the motor rotation number is detected using the Hall sensor 15 as in the first embodiment (FIG. 3). It may be.
  • smoothing capacitor C and control power generation circuit 115 may be provided on inverter circuit 113 side with respect to switching element SW. In this case, a diode D is connected in parallel to the switching element SW in a direction from the battery 20 toward the inverter circuit 113.
  • the electrically assisted bicycle 1 is taken as an example of the electrically powered vehicle, but is not limited to this.
  • the motor drive devices 10, 210, 310, 410 may be applied to other electric vehicles such as an electric bicycle and an electric wheelchair.
  • the present disclosure includes a control method executed by the motor drive device 10, 210, 310, 410, a computer program executed by the control method, and a computer-readable recording medium storing such a program.
  • Electric assist bicycle 3 Electric assist kit 10: Motor drive device 13: Motor 15: Hall sensor 17: Voltage measurement unit 19: Battery voltage measuring unit 20: Battery 30: Control unit 110: Switching control unit 111: Memory 113: Inverter circuit 115: Control power generation circuit 210: Motor drive device 310: Motor drive device 410: Motor driving device C: Smoothing capacitor D: Diode MDW1: Motor drive line MDW2: Motor drive line MDW3: Motor drive line SW: Switching element Tr1 to Tr6: Transistors

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  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un dispositif de commande de moteur permettant d'interrompre de manière plus simple et plus précise un courant régénératif. Un dispositif de commande de moteur (10) selon l'invention, pour commander un moteur (13) alimenté par un accumulateur (20), comprend un circuit onduleur (113), un élément de commutation (SW) et une unité de commande de commutation (110). Le circuit onduleur (113) commande le moteur (13). L'élément de commutation (SW) commute une connexion électrique entre l'accumulateur (20) et le circuit onduleur (113). L'unité de commande de commutation (110) détecte la vitesse de rotation du moteur (13) et met l'élément de commutation (SW) à l'état non passant lorsque la vitesse de rotation du moteur dépasse une valeur seuil (R1).
PCT/JP2018/005905 2017-03-22 2018-02-20 Dispositif de commande de moteur, dispositif d'assistance électrique et véhicule électrique Ceased WO2018173591A1 (fr)

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JP2017055956 2017-03-22
JP2017-055956 2017-03-22

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WO2018173591A1 true WO2018173591A1 (fr) 2018-09-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113276679A (zh) * 2020-01-31 2021-08-20 李尔公司 用于在电动机中产生主动短路状况的方法和系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61500199A (ja) * 1983-10-17 1986-01-30 サンドストランド・コ−ポレ−ション 不平衡で可変なパワ−・ファクタ負荷のためのパルス幅変調インバ−タ
WO2013001909A1 (fr) * 2011-06-30 2013-01-03 三洋電機株式会社 Chargeur de batterie et appareil d'alimentation électrique
JP2013192407A (ja) * 2012-03-14 2013-09-26 Fuji Electric Co Ltd 電力変換装置
WO2016076429A1 (fr) * 2014-11-14 2016-05-19 アイシン・エィ・ダブリュ株式会社 Dispositif de commande d'onduleur et dispositif de commande pour véhicule

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61500199A (ja) * 1983-10-17 1986-01-30 サンドストランド・コ−ポレ−ション 不平衡で可変なパワ−・ファクタ負荷のためのパルス幅変調インバ−タ
WO2013001909A1 (fr) * 2011-06-30 2013-01-03 三洋電機株式会社 Chargeur de batterie et appareil d'alimentation électrique
JP2013192407A (ja) * 2012-03-14 2013-09-26 Fuji Electric Co Ltd 電力変換装置
WO2016076429A1 (fr) * 2014-11-14 2016-05-19 アイシン・エィ・ダブリュ株式会社 Dispositif de commande d'onduleur et dispositif de commande pour véhicule

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113276679A (zh) * 2020-01-31 2021-08-20 李尔公司 用于在电动机中产生主动短路状况的方法和系统
CN113276679B (zh) * 2020-01-31 2024-06-18 李尔公司 用于在电动机中产生主动短路状况的方法和系统

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